Preheat oven to 425 degrees. Spray a 15x9x2-inch sheet pan with nonstick spray, then set aside.
Toss the asparagus and carrots with olive oil; add to one section on the prepared pan. Add a row of the pineapple. Pat the salmon dry with paper towels. Arrange salmon on the pan alongside pineapple. Brush salmon with 1/4 cup of the teriyaki sauce.
Roast for approximately 10 to 14 minutes (or until salmon flakes easily with a fork, 145 degrees) and vegetables are crisp-tender.
Stir pineapple and vegetables halfway through cooking.
Brush the remaining 1/4 cup teriyaki sauce onto salmon, pineapple, and vegetables. Sprinkle sesame seeds on salmon, if desired. Serve with roasted lemon half.